CN112924927A

CN112924927A - Positioning system and method

Info

Publication number: CN112924927A
Application number: CN202110075874.3A
Authority: CN
Inventors: 沈森松
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-06-08

Abstract

The application discloses a positioning system and a method, wherein the positioning system comprises: terminal equipment, gateway equipment, at least two readers and labels. Each reader-writer is used for sending a first signal to the label corresponding to each reader-writer, receiving a second signal returned by the label and sending the receiving power of the second signal to the terminal equipment through the gateway equipment; and the terminal equipment is used for determining the intersection point of a path of the first label returning the second signal and a path of the second label returning the second signal as the position of the human body under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, wherein the first receiving power is the receiving power of the second signal returned by the first label, and the second receiving power is the receiving power of the second signal returned by the second label. The positioning system provided by the application can realize indoor accurate positioning of human bodies.

Description

Positioning system and method

Technical Field

The application belongs to the technical field of radio frequency identification, and particularly relates to a positioning system and a positioning method.

Background

With the increasing maturity of positioning systems such as the beidou navigation satellite system (BDS) and the Global Positioning System (GPS), most terminal devices adopt a positioning function based on the positioning system.

Generally, since a human body will carry a terminal device with him, the location of the terminal device can be considered as the location of the human body. However, when a human body moves from outdoors to indoors, if the human body places the terminal device at a certain fixed position indoors without carrying the terminal device with him, the location of the terminal device does not reflect the actual position of the human body.

Therefore, how to realize human body positioning in an indoor environment becomes a technical problem to be solved urgently.

Disclosure of Invention

An object of the embodiments of the present application is to provide a positioning system and method, which can solve the problem of positioning a human body in an indoor environment.

In order to solve the above technical problem, the embodiment of the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a positioning system. The positioning system includes: the terminal device, the gateway device, at least two readers and tags, wherein the tags comprise a first tag and a second tag. Each reader-writer is used for sending a first signal to the label corresponding to each reader-writer, receiving a second signal returned by the label corresponding to each reader-writer, and sending the receiving power of the second signal to the terminal equipment through the gateway equipment; and the terminal equipment is used for determining the intersection point of a path of the first label returning the second signal and a path of the second label returning the second signal as the position of the human body under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, wherein the first receiving power is the receiving power of the second signal returned by the first label, and the second receiving power is the receiving power of the second signal returned by the second label.

In a second aspect, an embodiment of the present application provides a positioning method. The method is applied to a positioning system, and the positioning system comprises: the terminal device, the gateway device, at least two readers and tags, wherein the tags comprise a first tag and a second tag. The method comprises the following steps: each reader-writer sends a first signal to a label corresponding to each reader-writer, receives a second signal returned by the label corresponding to each reader-writer, and sends the receiving power of the second signal to terminal equipment through gateway equipment; and under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, the terminal equipment determines the intersection point of the path of the first tag returning the second signal and the path of the second tag returning the second signal as the position of the human body, wherein the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag.

In a third aspect, an embodiment of the present application provides a positioning method. The method is applied to terminal equipment, and the terminal equipment is connected with at least two readers through gateway equipment. The method comprises the following steps: under the condition that the terminal equipment is located in an indoor space, sending a first signal to a tag corresponding to each reader-writer through gateway equipment, and acquiring the receiving power of a second signal returned by each reader-writer through the gateway equipment, wherein the second signal is a signal returned by the tag corresponding to each reader-writer aiming at the first signal; and under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, determining the intersection point of a path of the second signal returned by the first tag and a path of the second signal returned by the second tag as the position of the human body, wherein the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag.

In a fourth aspect, the present application provides a terminal device, where the terminal device includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the positioning method provided in the third aspect.

In a fifth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the positioning method as provided in the second or third aspect.

In a sixth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the positioning method according to the second aspect or the third aspect.

In an embodiment of the present application, a positioning system may include: terminal equipment, gateway equipment, at least two readers and labels. According to the scheme, each reader-writer can be used for sending a first signal to the tag corresponding to each reader-writer, receiving a second signal returned by the tag corresponding to each reader-writer, and sending the receiving power of the second signal to the terminal device through the gateway device, so that under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, the terminal device can determine the intersection point of the path of the first signal returned by the first tag and the path of the second signal returned by the second tag as the position of the human body, the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag. Thus, through the positioning system, for example, a backscatter communication system arranged in an indoor space, when a human body is located in the indoor space, the human body can block a backscatter signal, so that the received power of the backscatter signal is reduced, and therefore whether the human body is located in the indoor space can be determined by using the received power of the backscatter signal, and the positioning of the human body in the indoor environment is further realized.

Drawings

Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a positioning system deployed indoors according to an embodiment of the present disclosure;

fig. 3 is a second schematic diagram of a positioning system deployed indoors according to an embodiment of the present application;

fig. 4 is a third schematic view illustrating a positioning system deployed indoors according to an embodiment of the present disclosure;

fig. 5 is a fourth schematic view of the indoor positioning system according to the embodiment of the present disclosure;

fig. 6 is a fifth schematic view of the indoor positioning system according to the embodiment of the present disclosure;

fig. 7 is a sixth schematic view of a positioning system deployed indoors according to an embodiment of the present disclosure;

fig. 8 is a seventh schematic view of a positioning system deployed indoors according to an embodiment of the present disclosure;

FIG. 9 is an eighth schematic view of a positioning system deployed indoors according to an embodiment of the present disclosure;

FIG. 10 is a ninth schematic view of a positioning system deployed indoors according to an embodiment of the present disclosure;

fig. 11 is a schematic diagram of a method for establishing a mapping relationship between an indoor position of a human body and a terminal device location according to an embodiment of the present application;

fig. 12 is a schematic diagram of a method for establishing a human body identification mapping relationship according to an embodiment of the present application;

fig. 13 is a schematic diagram of a positioning method according to an embodiment of the present application;

fig. 14 is a second schematic diagram of a positioning method according to an embodiment of the present application;

fig. 15 is a hardware schematic diagram of a terminal device according to an embodiment of the present disclosure;

fig. 16 is a second hardware diagram of the terminal device according to the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

It should be noted that, the marks in the embodiments of the present application are used to indicate words, symbols, images, and the like of information, and a control or other container may be used as a carrier for displaying information, including but not limited to a word mark, a symbol mark, and an image mark.

The following describes in detail a positioning system, a method and a terminal device provided in the embodiments of the present application with reference to fig. 1 to 16 through specific embodiments and application scenarios thereof.

As shown in fig. 1, an embodiment of the present application provides a positioning system 10. The positioning system 10 includes: terminal device 11, gateway device 12, at least two readers 13, and tag 14.

Wherein, the terminal device 11 is wirelessly connected with the gateway device 12;

the gateway device 12 is wirelessly connected with at least two readers 13;

each reader/writer 13 is wirelessly connected with at least one tag 14.

Each reader-writer 13 of the at least two reader-writers may be configured to send a first signal (which may be referred to as a downlink signal) to the tag 14 corresponding to each reader-writer 13, receive a second signal (which may be referred to as an uplink signal) returned by the tag 14 corresponding to each reader-writer 13, and send the received power of the second signal to the terminal device 11 through the gateway device 14.

The terminal device 11 may be configured to determine, as the position of the human body, an intersection point of a path through which the first tag returns the second signal and a path through which the second tag returns the second signal, when a difference between the first preset received power and the first received power is greater than or equal to a first preset value and a difference between the second preset received power and the second received power is greater than or equal to a second preset value. Wherein the first received power is the received power of the second signal returned by the first tag, and the second received power is the received power of the second signal returned by the second tag.

It should be noted that the second signal sent by the tag to the reader/writer is: a reply signal or a backscatter signal of the first signal transmitted to the one tag by the one reader/writer. That is, corresponding to one reader/writer and the first tag: the transmission path of the first signal is the same as the transmission path of the second signal, but the transmission directions are opposite.

The first predetermined received power is: in the case where no obstacle is located on a path through which a signal is transmitted between the first reader/writer and the first tag (for example, a path through which the first tag returns the second signal to the first reader/writer), the first reader/writer receives the reception power of the second signal. It can be understood that, if the human body is located at any position on the path, the human body may block a part of the second signal, so that the first reader/writer may only receive a part of the second signal, and thus the difference between the first preset receiving power and the receiving power of the second signal is greater than or equal to the first preset value.

The second predetermined received power is: in the case where no obstacle is located on a path for transmitting a signal between the second reader/writer and the second tag (for example, a path for returning the second signal to the second reader/writer by the second tag), the second reader/writer receives the reception power of the second signal. It can be understood that, if the human body is located at any position on the path, the human body may block a part of the second signal, so that the second reader/writer can only receive a part of the second signal, and thus the difference between the second preset receiving power and the receiving power of the second signal is greater than or equal to the second preset value.

The positioning system 10 provided in the embodiment of the present application can be applied to a space with signal reflection capability, for example, an indoor space. Further, the indoor space may be a predetermined indoor space.

Exemplary ofFor example, the positioning system includes two readers and two tags. In the rectangular space shown in fig. 2, the reader/writer 1 and the reader/writer 2 are respectively disposed on two adjacent walls in the rectangular space, the tag 1 is disposed on the other wall in the rectangular space opposite to the wall on which the reader/writer 1 is located, and the tag 2 is disposed on the other wall in the rectangular space opposite to the wall on which the reader/writer 2 is located. The reader/writer 1 transmits a first signal S to the tag 1_T1The tag 1 reflects the first signal S to the reader/writer 1_T1Is the second signal S_R1) A second signal S received by the reader/writer 1_R1Has a received power of P_R1(ii) a The reader/writer 2 sends a first signal S to the tag 2_T2The tag 2 reflects the first signal S to the reader/writer 2_T2Is the second signal S_R2) A second signal S received by the reader/writer 2_R2Has a received power of P_R2. When a human body is at the intersection of the paths returning the two second signals, the human body will have an effect on the two second signals. After the reader-writer 1 and the reader-writer 2 respectively feed back the receiving power of the second signal to the terminal device through the gateway device, if the terminal device determines that the difference between the first preset receiving power and the receiving power of the second signal returned by the first tag is greater than or equal to a first preset value, and the difference between the second preset receiving power and the receiving power of the second signal returned by the second tag is greater than or equal to a second preset value, the terminal device may determine that the human body is located at an intersection point P (x, y) of paths of the two second signals in the rectangular space.

Optionally, after the human body positioning is realized, the terminal device may be further configured to perform a target processing action. The target processing action includes at least one of: the control light equipment light follows the human body and removes, control stereo set sound follows the human body and removes, control terminal equipment automatic bright screen etc.. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

It should be noted that the reader/writer is also referred to as a radio frequency transceiver, and the tag is also referred to as a radio frequency card. The working principle is as follows: the reader/writer transmits a signal to at least one tag by modulating a radio frequency carrier signal. Then, at least one tag obtains working power supply energy through a passive Radio Frequency (RF) electromagnetic field of the reader-writer; then, at least one tag transmits a return signal by backscatter modulating the amplitude or phase of the radio frequency carrier.

Gateway devices (gateways), also known as internetworking connectors, protocol converters, etc., may implement network interconnections at the transport layer. In the embodiment of the application, the gateway device is used for transmitting information between the terminal device and the reader-writer.

Optionally, the terminal device provided in the embodiment of the present application may be a mobile terminal device, and may also be a non-mobile terminal device. By way of example, the mobile terminal device may be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted terminal device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile terminal device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiment of the present application is not particularly limited.

It can be understood that the more the number of the readers and the number of the tags, the more the indoor locatable position is, the higher the locating accuracy is, but the equipment cost is also increased correspondingly. In addition, because the gateway device and the at least two readers are separately arranged, only one gateway device needs to be arranged in an indoor space, and the plurality of readers are controlled by one gateway device, so that the equipment cost of the positioning system is reduced.

An embodiment of the present application provides a positioning system, which may include: terminal equipment, gateway equipment, at least two readers and labels. According to the scheme, each reader-writer can be used for sending a first signal to the tag corresponding to each reader-writer, receiving a second signal returned by the tag corresponding to each reader-writer, and sending the receiving power of the second signal to the terminal device through the gateway device, so that under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, the terminal device can determine the intersection point of the path of the first signal returned by the first tag and the path of the second signal returned by the second tag as the position of the human body, the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag. Thus, through the positioning system, for example, a backscatter communication system arranged in an indoor space, when a human body is located in the indoor space, the human body can block a backscatter signal, so that the received power of the backscatter signal is reduced, and therefore whether the human body is located in the indoor space can be determined by using the received power of the backscatter signal, and the positioning of the human body in the indoor environment is further realized.

Optionally, in this embodiment of the application, each reader/writer is wirelessly connected to at least one tag. The following two optional implementations may be specifically included:

first alternative implementation,

If each reader-writer is wirelessly connected with one tag, the distance between any two adjacent intersection points in any direction is equal. Wherein each intersection is an intersection of a path of one tag returning the second signal and a path of another tag returning the second signal.

For example, as shown in fig. 3 or fig. 4, 10 tags and 10 readers included in the positioning system are arranged on respective walls of the indoor space, wherein one tag corresponds to one reader for each of the 10 tags. Next, a description will be given taking an example in which the path for the tag 8 to return the second signal to the reader/writer 6 is in the first direction, the path for the tag 5 to return the second signal to the reader/writer 3 is in the second direction, and the first direction and the second direction are perpendicular to each other.

If the intersection of the path for the tag 5 to return the second signal to the reader/writer 3 and the path for the tag 8 to return the second signal to the reader/writer 6 is denoted by a, the intersection of the path for the tag 2 to return the second signal to the reader/writer 7 and the path for the tag 8 to return the second signal to the reader/writer 6 is denoted by b, and the intersection of the path for the tag 6 to return the second signal to the reader/writer 2 and the path for the tag 8 to return the second signal to the reader/writer 6 is denoted by c, the distance between the intersection a and the intersection b is equal to the distance between the intersection b and the intersection c, where the intersection a and the intersection b are adjacent and the intersection b and the intersection c are adjacent. Therefore, the distance between any adjacent two intersection points in the first direction is equal.

If the intersection of the path for the tag 5 to return the second signal to the reader/writer 3 and the path for the tag 8 to return the second signal to the reader/writer 6 is denoted by a, the intersection of the path for the tag 5 to return the second signal to the reader/writer 3 and the path for the tag 4 to return the second signal to the reader/writer 9 is denoted by d, and the intersection of the path for the tag 5 to return the second signal to the reader/writer 3 and the path for the tag 9 to return the second signal to the reader/writer 5 is denoted by e, the distance between the intersection a and the intersection d is equal to the distance between the intersection d and the intersection e, where the intersection a is adjacent to the intersection d, and the intersection d is adjacent to the intersection e. Therefore, the distance between any adjacent two intersection points in the second direction is equal.

It can be understood that, in the first optional implementation manner, since each reader-writer is wirelessly connected with one tag, and the distances between any two adjacent intersection points in any direction are equal, a uniform positioning grid can be constructed, so that the positioning accuracy of each indoor area is consistent, the uniformity is good, and the uniform positioning of the human body in the room is realized.

Second alternative implementation,

If each reader/writer is wirelessly connected to a plurality of tags, the distance between any two intersection points adjacent to each other in any direction is not completely equal. Wherein each intersection is an intersection of a path of one tag returning the second signal and a path of another tag returning the second signal.

The above "the distance between any two intersection points adjacent to each other in any direction is not completely equal" includes the following two meanings: one means that the distance between any two adjacent intersections in any direction is not equal; another means that the distance between any adjacent two intersections in any direction is not partially equal.

Alternatively, in the case where each reader/writer is wirelessly connected to a plurality of tags, one tag is connected to one or more reader/writers for each of the plurality of tag radios.

For example, as shown in fig. 5 or 6, 18 tags and 2 readers included in the positioning system are disposed on respective walls of the indoor space, wherein each reader corresponds to a plurality of tags. Next, a path for returning the second signal from the tag 8 to the reader/writer 2 in the third direction will be described as an example.

If the intersection point of the path for the tag 8 to return the second signal to the reader/writer 2 and the path for the tag 7 to return the second signal to the reader/writer 1 is denoted by f, the intersection point of the path for the tag 8 to return the second signal to the reader/writer 2 and the path for the tag 6 to return the second signal to the reader/writer 1 is denoted by g, and the intersection point of the path for the tag 8 to return the second signal to the reader/writer 2 and the path for the tag 5 to return the second signal to the reader/writer 1 is denoted by h, the distance between the intersection point f and the intersection point g is not equal to the distance between the intersection point g and the intersection point h, where the intersection point f is adjacent to the intersection point g, and the intersection point. Therefore, the distances between any adjacent two intersection points in the third direction are not completely equal.

It can be understood that, in the second optional implementation manner, since each reader/writer is wirelessly connected to a plurality of tags, and distances between any two adjacent intersection points in any direction are not completely equal, a non-uniform positioning grid can be constructed, so that a high-density grid area and a low-density grid area can be customized according to indoor furniture layout, for example, a grid density corresponding to a high-density area of furniture is high, and a grid density corresponding to a low-density area of furniture is low, thereby improving flexibility of human body positioning.

Optionally, in the positioning system provided in the embodiment of the present application, the terminal device may be further configured to store positioning time corresponding to each position after determining each position where the human body is located; and determining the motion trail of the human body according to each position and the positioning time corresponding to each position.

In an exemplary indoor space as shown in fig. 7 or fig. 8, the terminal device may acquire the position of the human body and record the positioning time of the human body. Assuming that the time when the human body passes through the first intersection in sequence is t1, the time when the human body passes through the second intersection is t2, the time when the human body passes through the third intersection is t3, and the time when the human body passes through the fourth intersection is t4, the terminal device may connect the first intersection, the second intersection, the third intersection and the fourth intersection in sequence from t1 to t4 by using a dotted line as shown in fig. 7 or fig. 8, so as to use the dotted line as the motion trajectory of the human body in the room.

In another example, as shown in fig. 9 or 10, the human body 1 and the human body 2 may be simultaneously in one indoor space. Assuming that the time for the human body 1 to sequentially pass through the first intersection point is t1, the time for the human body to pass through the second intersection point is t2, the time for the human body to pass through the third intersection point is t3, and the time for the human body to pass through the fourth intersection point is t 4; further, the time when the human body 2 sequentially passes through the fifth intersection is t5, the time when it passes through the sixth intersection is t6, the time when it passes through the seventh intersection is t7, and the time when it passes through the eighth intersection is t 8. The terminal device may connect the first intersection point, the second intersection point, the third intersection point and the fourth intersection point in sequence according to the time sequence from t1 to t4 by using the dotted line shown in fig. 9 or fig. 10, so as to use the dotted line as the indoor movement trajectory of the human body 1; in addition, the terminal device may connect the fifth intersection point, the sixth intersection point, the seventh intersection point and the eighth intersection point in sequence from t5 to t8 by using a dotted line as shown in fig. 9 or fig. 10, so as to use the connected points as the indoor movement trajectory of the human body 2.

It should be noted that, for the specific implementation of distinguishing the human body 1 from the human body 2, reference may be made to the following description of the embodiments, which are not repeated herein.

According to the positioning system provided by the embodiment of the application, the positioning time of the human body can be recorded while the terminal equipment acquires each position where the human body is located, so that the motion track of the human body can be acquired according to each position and the positioning time corresponding to each position.

Optionally, in the positioning system provided in this embodiment of the present application, the terminal device may be further configured to control the gateway device and the at least two readers to be turned on when the terminal device is located in the indoor space before receiving the second signal returned by the tag corresponding to each reader; and transmitting a first signal to the tag corresponding to each reader-writer through the gateway device.

For example, in a normal situation, in order to save power, the gateway device and at least two readers in the positioning system are in an off state (i.e., in a non-powered state), and the positioning function of the terminal device, such as the BDS or the GPS, is in an on state. When the terminal device determines that the terminal device is located in a preset indoor space based on the positioning function of the positioning system provided by the prior art, for example, the positioning position is a home or a company, the terminal device may send an opening instruction to the gateway device, so as to control the gateway device to open, and further control the at least two readers to open. Then, the terminal device may transmit a first signal to at least one tag connected to each reader/writer through the gateway device, so that even if the human body is separated from the terminal device, the position of the human body in the room can be determined based on the first signal.

On one hand, the positioning system provided by the embodiment of the application controls the gateway device and the at least two readers to be started only under the condition that the terminal device is located in an indoor space, so that the power consumption of the device is saved; on the other hand, the terminal device sends a first signal to at least one tag connected with each reader-writer through the gateway device, and can control the positioning system to start detecting the position of the human body indoors.

Optionally, in the positioning system provided in the embodiment of the present application, the terminal device may be specifically configured to:

determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the first human body under the condition that the first target difference is greater than or equal to a first preset value and the second target difference is greater than or equal to a second preset value; alternatively, the first and second electrodes may be,

and determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the second human body under the condition that the third target difference is greater than or equal to the first preset value and the fourth target difference is greater than or equal to the second preset value.

Wherein the first target difference value and the third target difference value are respectively: when the first human body and the second human body are at the same position of the path of the second signal returned by the first tag, the difference between the first preset receiving power and the first receiving power (i.e. the receiving power of the second signal returned by the first tag).

The second target difference and the fourth target difference are respectively: when the first human body and the second human body are at the same position of a path of a second signal returned by the second tag, a difference value between the second preset received power and the second received power (i.e., the received power of the second signal returned by the second tag).

Illustratively, the above-mentioned fig. 2 is still used as an example for illustration. Assume that a path through which the tag 1 returns the second signal to the reader/writer 1 is referred to as path 1, a path through which the tag 2 returns the second signal to the reader/writer 2 is referred to as path 2, and an intersection of the path 1 and the path 2 is P (x, y).

When the human body 1 is located at the intersection point P (x, y), if the difference between the first preset reception power and the reception power of the second signal returned from the tag 1 is Δ y1, the difference between the second preset reception power and the reception power of the second signal returned from the tag 2 is Δ x1, Δ y1 is greater than or equal to the first preset value, and Δ x1 is greater than or equal to the second preset value, it is determined that the human body 1 is located at the intersection point P (x, y).

When the human body 2 is located at the intersection point P (x, y), if the difference between the first preset received power and the received power of the second signal returned from the tag 1 is Δ y2, the difference between the second preset received power and the received power of the second signal returned from the tag 2 is Δ x2, Δ y2 is greater than or equal to the first preset value, and Δ x2 is greater than or equal to the second preset value, it is determined that the human body 2 is located at the intersection point P (x, y).

The positioning system that this application embodiment provided, when first human body and second human body are located indoor same position, for example human 1 and human 2 are located same nodical P (x, y), because factors such as the height and the weight of first human body and second human body have the difference, can lead to the influence difference to the second signal that the label returns, and then make terminal equipment can distinguish different human bodies according to the received power of second signal, realized first human body and second human location promptly.

Optionally, as shown in fig. 11, an embodiment of the present application provides a method for establishing a mapping relationship between an indoor position of a human body and a positioning of a terminal device. This method can be implemented by steps 11 to 16 described below.

And 11, after the starting, the terminal equipment establishes an initial mapping relation between the human body position and the positioning of the terminal equipment. The positioning of the terminal equipment means that the terminal equipment displays a target mark in a map of a screen, and the target mark is used for indicating the position of a human body.

And step 12, comparing the actual position of the human body with the display positioning of the terminal equipment.

This step is used to obtain positioning accuracy. This step can be compared by the user or by the terminal device with reference to prior art positioning methods.

And step 13, the terminal equipment judges whether the positioning accuracy is higher than a preset accuracy. For example, the preset accuracy may be 98%.

In case the positioning accuracy is higher than the preset accuracy, step 14 may be performed; in the case where the positioning accuracy is less than or equal to the preset accuracy, steps 15 and 16 may be performed.

And step 14, establishing a final mapping relation between the human body position and the terminal equipment positioning.

And step 15, the terminal equipment enables the human body to move to a specific position.

Step 16, machine learning and updating the initial mapping.

In the embodiment of the application, because the positioning system is located in the closed room, before the positioning system is used, a mapping relation between the indoor position of the human body and the positioning of the terminal device needs to be established, so that the human body located in the room can be accurately positioned.

Optionally, as shown in fig. 12, an embodiment of the present application provides a method for establishing a human body identification mapping relationship. This method can be realized by steps 21 to 26 described below.

Step 21, after the start, the terminal device establishes an initial mapping relationship between the human body identity and the power value of the reflected signal. Wherein the reflected signal power value refers to the power value of the second signal returned by the tag.

And step 22, standing the human body on the mobile terminal and appointing the human body to stand to a specific position.

And step 23, judging whether the identity recognition accuracy is higher than a preset accuracy. For example, the preset accuracy may be 98%.

In case the identification accuracy is higher than the preset accuracy, step 24 may be executed; in case the identification accuracy is less than or equal to the preset accuracy, steps 25 and 26 may be performed.

And 24, the terminal equipment establishes a final mapping relation between the human body identity and the power value of the reflected signal.

And step 25, the terminal equipment acquires a new reflected signal power value.

Step 26, machine learning and updating the initial mapping.

In the embodiment of the present application, since the positioning system is located in the closed room, before the positioning system is used, a mapping relationship between different human bodies and power values of the reflected signals needs to be established, so as to distinguish and position the different human bodies located in the closed room.

As shown in fig. 13, an embodiment of the present application provides a positioning method. The method may be applied to a positioning system as shown in fig. 1, which may include: the terminal device, the gateway device, at least two readers and tags, wherein the tags comprise a first tag and a second tag. This method can be implemented by S101 to S104 described below.

S101, each reader-writer sends a first signal to a label corresponding to each reader-writer.

Fig. 13 is an example of transmitting a first signal to the tag 1 and the tag 2 connected to one reader/writer by one reader/writer, and does not limit the embodiment of the present application. In actual implementation, the number of the readers is multiple, and the number of the tags connected to each reader is 1 or more.

Optionally, before the foregoing S101, the positioning method provided by the present application may further include:

under the condition that the terminal equipment is located in the indoor space, the terminal equipment controls the gateway equipment and the at least two readers to be started, and sends a first signal to the label corresponding to each reader through the gateway equipment.

And S102, each reader-writer receives a second signal returned by the label corresponding to each reader-writer.

And S103, each reader-writer sends the receiving power of the second signal to the terminal equipment through the gateway equipment.

And S104, under the condition that the difference value between the first preset receiving power and the first receiving power is larger than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is larger than or equal to a second preset value, the terminal equipment determines the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the human body.

The first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag.

Alternatively, S104 may be specifically realized by S104a or S104b described below.

And S104a, under the condition that the first target difference is larger than or equal to the first preset value and the second target difference is larger than or equal to the second preset value, the terminal equipment determines the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the first human body.

And S104b, under the condition that the third target difference is greater than or equal to the first preset value and the fourth target difference is greater than or equal to the second preset value, the terminal device determines the intersection point of the path of the first label returning to the second signal and the path of the second label returning to the second signal as the position of the second human body.

Wherein the first target difference value and the third target difference value are respectively: when the first human body and the second human body are at the same position of the path of the second signal returned by the first tag, the difference between the first preset received power and the first received power (the received power of the second signal returned by the first tag).

The second target difference and the fourth target difference are respectively: when the first human body and the second human body are at the same position of a path of a second signal returned by the second tag, a difference between the second preset reception power and the second reception power (reception power of the second signal returned by the second tag).

Optionally, since the human body is usually mobile, multiple positions of the human body in the indoor space can be determined by using the positioning method provided by the embodiment of the application. For example, after S104, the positioning method provided in the embodiment of the present application may further include: after each position where the human body is located is determined, the terminal equipment stores positioning time corresponding to each position; and then, the terminal equipment determines the motion trail of the human body according to each position and the positioning time corresponding to each position.

For the above S101 to S104, reference may be made to the detailed description of the above embodiments, which is not repeated herein.

The embodiment of the application provides a positioning method, which is applied to a positioning system, and because each reader-writer, may be configured to transmit a first signal to the tag corresponding to each reader/writer, receive a second signal returned from the tag corresponding to each reader/writer, and transmit reception power of the second signal to the terminal device through the gateway device, and therefore, under the condition that the difference value between the first preset receiving power and the first receiving power is larger than or equal to a first preset value and the difference value between the second preset receiving power and the second receiving power is larger than or equal to a second preset value, the terminal device may determine an intersection point of a path where the first tag returns the second signal and a path where the second tag returns the second signal as the position where the human body is located, where the first received power is the received power of the second signal returned by the first tag, and the second received power is the received power of the second signal returned by the second tag. Thus, through the positioning system, for example, a backscatter communication system arranged in an indoor space, when a human body is located in the indoor space, the human body can block a backscatter signal, so that the received power of the backscatter signal is reduced, and therefore whether the human body is located in the indoor space can be determined by using the received power of the backscatter signal, and the positioning of the human body in the indoor environment is further realized.

As shown in fig. 14, an embodiment of the present application provides a positioning method. The method may be applied to a terminal device in a positioning system as shown in fig. 1. The terminal equipment is in wireless connection with at least two readers through gateway equipment. This method can be implemented by S201 to S203 described below.

S201, under the condition that the terminal equipment is located in the indoor space, the terminal equipment sends a first signal to the label corresponding to each reader-writer through the gateway equipment.

Optionally, before the terminal device sends the first signal to the tag corresponding to each reader/writer through the gateway device, the positioning method provided in this embodiment of the present application may further include: and under the condition that the terminal equipment is positioned in the indoor space, the terminal equipment controls the gateway equipment and the at least two readers to be started.

S202, the terminal device obtains the receiving power of the second signal returned by each reader-writer through the gateway device.

The second signal is a signal returned by the tag corresponding to each reader-writer with respect to the first signal.

S203, under the condition that the difference value between the first preset receiving power and the first receiving power is larger than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is larger than or equal to a second preset value, the terminal equipment determines the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the human body.

Alternatively, S203 may be specifically realized by S203a or S203b described below.

And S203a, under the condition that the first target difference is greater than or equal to the first preset value and the second target difference is greater than or equal to the second preset value, the terminal equipment determines the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the first human body.

And S203b, under the condition that the third target difference is greater than or equal to the first preset value and the fourth target difference is greater than or equal to the second preset value, the terminal device determines the intersection point of the path of the first label returning to the second signal and the path of the second label returning to the second signal as the position of the second human body.

Optionally, the positioning method provided in the embodiment of the present application may further include: after determining each position where the human body is located, the terminal device stores positioning time corresponding to each position. And the terminal equipment determines the motion trail of the human body according to each position and the positioning time corresponding to each position.

For the above S201 to S203, reference may be made to the detailed description of the above embodiments, which is not repeated herein.

The embodiment of the application provides a positioning method, which is applied to terminal equipment, and can be used for sending a first signal to a label corresponding to each reader-writer through gateway equipment and acquiring the receiving power of a second signal returned by each reader-writer through the gateway equipment under the condition that the terminal equipment is located in an indoor space; and determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the human body under the condition that the difference value of the first preset receiving power and the first receiving power is larger than or equal to a first preset value and the difference value of the second preset receiving power and the second receiving power is larger than or equal to a second preset value. Therefore, when the human body is located in the indoor space, the human body can block the backscatter signal, and the received power of the backscatter signal is reduced, so that the terminal equipment can determine whether the human body is located in the indoor space by using the received power of the backscatter signal, and further the positioning of the human body in the indoor environment is realized.

Optionally, as shown in fig. 15, an embodiment of the present application further provides a terminal device 300, which includes a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and capable of being executed on the processor 301, where the program or the instruction is executed by the processor 301 to implement each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and no further description is provided here to avoid repetition.

Fig. 16 is a schematic diagram of a hardware structure of a terminal device for implementing an embodiment of the present application.

The terminal device 400 includes but is not limited to: radio unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, and processor 410.

Those skilled in the art will appreciate that the terminal device 400 may further include a power supply (e.g., a battery) for supplying power to various components, and the power supply may be logically connected to the processor 410 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The terminal device structure shown in fig. 16 does not constitute a limitation of the terminal device, and the terminal device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is omitted here.

In this embodiment, the terminal device 400 is wirelessly connected to at least two readers through a gateway device, and each reader is also wirelessly connected to at least one tag.

Optionally, the radio frequency unit 401 may be configured to, when the terminal device is located in an indoor space, send a first signal to a tag corresponding to each reader/writer through the gateway device, and obtain, through the gateway device, a receiving power of a second signal returned by each reader/writer, where the second signal is a signal returned by the tag corresponding to each reader/writer with respect to the first signal.

The processor 410 may be configured to determine that the position of the human body is located at an intersection of a path through which the first tag returns the second signal and a path through which the second tag returns the second signal, when a difference between the first preset received power and the first received power is greater than or equal to a first preset value and a difference between the second preset received power and the second received power is greater than or equal to a second preset value. Wherein the first received power is the received power of the second signal returned by the first tag, and the second received power is the received power of the second signal returned by the second tag.

Optionally, the processor 410 may be further configured to, after determining each position where the human body is located, store a positioning time corresponding to each position, and determine the motion trajectory of the human body according to each position and the positioning time corresponding to each position.

Optionally, the processor 410 may be further configured to control the gateway device and the at least two readers to be turned on when the terminal device is located in the indoor space before the gateway device sends the first signal to the tag corresponding to each reader.

Optionally, the processor 410 may be specifically configured to:

determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the first human body under the condition that the first target difference is greater than or equal to a first preset value and the second target difference is greater than or equal to a second preset value; and determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the second human body under the condition that the third target difference is greater than or equal to the first preset value and the fourth target difference is greater than or equal to the second preset value.

The embodiment of the application provides a terminal device, which can send a first signal to a tag corresponding to each reader-writer through a gateway device and obtain the receiving power of a second signal returned by each reader-writer through the gateway device under the condition that the terminal device is located in an indoor space; and determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the human body under the condition that the difference value of the first preset receiving power and the first receiving power is larger than or equal to a first preset value and the difference value of the second preset receiving power and the second receiving power is larger than or equal to a second preset value. Therefore, when the human body is located in the indoor space, the human body can block the backscatter signal, and the received power of the backscatter signal is reduced, so that the terminal equipment can determine whether the human body is located in the indoor space by using the received power of the backscatter signal, and further the positioning of the human body in the indoor environment is realized.

It should be understood that, in the embodiment of the present application, the input unit 404 may include a Graphics Processing Unit (GPU) 4041 and a microphone 4042, and the graphics processor 4041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 407 includes a touch panel 4071 and other input devices 4072. A touch panel 4071, also referred to as a touch screen. The touch panel 4071 may include two parts, a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. The memory 409 may be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 410 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 410.

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The processor is the processor in the terminal device in the above embodiment. Readable storage media, including computer-readable storage media such as a computer-read-only memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and so forth.

The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to execute a program or an instruction to implement each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and details are not repeated here to avoid repetition.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a terminal (such as a mobile phone, a computer, a server, or a network device) to execute the methods of the embodiments of the present application.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A positioning system, comprising: the system comprises terminal equipment, gateway equipment, at least two readers and labels, wherein the labels comprise a first label and a second label; wherein the content of the first and second substances,

each reader-writer is used for sending a first signal to the label corresponding to the reader-writer, receiving a second signal returned by the label corresponding to the reader-writer, and sending the receiving power of the second signal to the terminal equipment through the gateway equipment;

the terminal device is configured to determine an intersection point of a path where the first tag returns the second signal and a path where the second tag returns the second signal as a position where the human body is located, where a difference between first preset received power and the first received power is greater than or equal to a first preset value, and a difference between second preset received power and second received power is greater than or equal to a second preset value, the first received power is received power of the second signal returned by the first tag, and the second received power is received power of the second signal returned by the second tag.

2. The positioning system of claim 1,

if each reader-writer is wirelessly connected with one label, the distance between any two adjacent intersection points in any direction is equal; alternatively, the first and second electrodes may be,

if each reader-writer is wirelessly connected with a plurality of tags, the distance between any two adjacent intersection points in any direction is not completely equal;

wherein each intersection is an intersection of a path of one tag returning the second signal and a path of another tag returning the second signal.

3. The positioning system according to claim 1, wherein the terminal device is further configured to store a positioning time corresponding to each position where the human body is located after determining each position; and determining the motion trail of the human body according to each position and the positioning time corresponding to each position.

4. The positioning system according to claim 1, wherein the terminal device is further configured to control the gateway device and the at least two readers to be turned on when the terminal device is located in an indoor space before receiving the second signal returned by the tag corresponding to each reader; and sending a first signal to the label corresponding to each reader-writer through the gateway equipment.

5. The positioning system according to any one of claims 1 to 4, wherein the terminal device is specifically configured to:

determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the first human body under the condition that the first target difference is greater than or equal to a first preset value and the second target difference is greater than or equal to a second preset value;

alternatively, the first and second electrodes may be,

determining the intersection point of the path of the first label returning the second signal and the path of the second label returning the second signal as the position of the second human body under the condition that the third target difference value is greater than or equal to the first preset value and the fourth target difference value is greater than or equal to the second preset value;

wherein the first target difference value and the third target difference value are respectively: when the first human body and the second human body are at the same position of a path of a second signal returned by the first tag, the difference value between the first preset receiving power and the first receiving power;

the second target difference and the fourth target difference are respectively: and when the first human body and the second human body are at the same position of a path of a second signal returned by the second tag, the difference value between the second preset receiving power and the second receiving power.

6. A positioning method is applied to a positioning system, and the positioning system comprises: the system comprises terminal equipment, gateway equipment, at least two readers and labels, wherein the labels comprise a first label and a second label; the method comprises the following steps:

each reader-writer sends a first signal to a label corresponding to the reader-writer, receives a second signal returned by the label corresponding to the reader-writer, and sends the receiving power of the second signal to the terminal equipment through the gateway equipment;

and under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value, and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, the terminal equipment determines the intersection point of a path of the first tag returning to the second signal and a path of the second tag returning to the second signal as the position of the human body, wherein the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag.

7. The method of claim 6, further comprising:

after each position where the human body is located is determined, the terminal equipment stores positioning time corresponding to each position;

and determining the motion trail of the human body according to each position and the positioning time corresponding to each position.

8. The positioning method according to claim 6 or 7, wherein, in a case that the difference between the first preset received power and the first received power is greater than or equal to a first preset value, and the difference between the second preset received power and the second received power is greater than or equal to a second preset value, the terminal device determines an intersection point of a path of the first tag returning to the second signal and a path of the second tag returning to the second signal as the position of the human body, including:

alternatively, the first and second electrodes may be,

9. A positioning method is characterized in that the method is applied to terminal equipment, and the terminal equipment is connected with at least two readers through gateway equipment; the method comprises the following steps:

under the condition that the terminal equipment is located in an indoor space, sending a first signal to a tag corresponding to each reader-writer through the gateway equipment, and acquiring the receiving power of a second signal returned by each reader-writer through the gateway equipment, wherein the second signal is a signal returned by the tag corresponding to each reader-writer aiming at the first signal;

and determining the intersection point of a path of a second signal returned by the first tag and a path of a second signal returned by the second tag as the position of the human body under the condition that the difference value between the first preset receiving power and the first receiving power is greater than or equal to a first preset value and the difference value between the second preset receiving power and the second receiving power is greater than or equal to a second preset value, wherein the first receiving power is the receiving power of the second signal returned by the first tag, and the second receiving power is the receiving power of the second signal returned by the second tag.

10. The method of claim 9, further comprising:

11. A readable storage medium, characterized in that a program or instructions are stored thereon, which program or instructions, when executed by a processor, carry out the steps of the positioning method according to any one of claims 6 to 10.